Unmanned vehicle

• US 7,299,130 B2
• Filed: 12/13/2004
• Issued: 11/20/2007
• Est. Priority Date: 12/12/2003
• Status: Active Grant

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Advanced Ceramics Research, Inc. (Rtx Corporation)
• Inventors: Mulligan, Anthony C., Troudt, Christopher D., Douglas, Jason Michael K.
• Primary Examiner(s): Tran; Dalena
• Application Number:
  US11/011,001
• Publication Number:
  US 20060074557A1
• Time in Patent Office: 1,072 Days
• Field of Search: 701/1, 701/3, 701/7, 701/213, 701/120, 701/121, 701/300, 701/302, 340/960, 340/961, 340/947, 342/29, 342/30, 342/32, 342/454, 342/455, 342/450
• US Class Current: 701/213
• CPC Class Codes: B64U 2101/17 for detecting, disrupting or countering communications
• CPC Class Codes: B64U 2101/18 for dropping bombs; for firing ammunition
• CPC Class Codes: B64U 2101/31 for surveillance
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 50/11 using internal combustion piston engines
• CPC Class Codes: B64U 80/84 Waterborne vehicles
• CPC Class Codes: B64U 80/86 Land vehicles
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target

Abstract

Methods and apparatuses provide surveillance of a convoy. At least one unmanned aerial vehicle (UAV) obtains images around the convoy'"'"'s position to provide information about potential hostile activity while the UAV follows a generally curvilinear path around the convoy as instructed by one of the convoy vehicles. Path planner algorithm software is executed by the controlling convoy vehicle in which position and velocity information regarding the unmanned aerial vehicle and the convoy are processed to determine values of control variables. The determined values are sent to the unmanned aerial vehicle over a wireless communications channel. The path of the surveillance vehicle may be changed in order to provide evasive measures to avoid an attack on the surveillance vehicle by an adversary.

Claims

1. A method for a surveillance vehicle tracking a convoy, the convoy comprising at least one convoy vehicle, the method comprising:

(a) obtaining a first location and velocity information of the surveillance vehicle;

(b) obtaining a second location and velocity information of the convoy;

(c) determining at least one path parameter corresponding to a first desired curvilinear path of the surveillance vehicle; and

(d) determining a value of at least one control variable for the first desired curvilinear path, the at least one control variable comprising an altitude command for dynamically controlling an altitude of the surveillance vehicle.

2. The method of claim 1, wherein (a) comprises receiving the first location and velocity information of the surveillance vehicle, (b) comprises receiving the second location and velocity information of the convoy, and further comprising:

(e) sending the value of the at least one control variable to the surveillance vehicle.

3. The method of claim 1, wherein (a) comprises receiving the first location and velocity information of the surveillance vehicle, and further comprising:

(e) sending the value of the at least one control variable for the first desired curvilinear path to the surveillance vehicle.

4. The method of claim 3, wherein (b) comprises:

(i) receiving global positioning system (GPS) information; and

(ii) determining the second location and velocity information from the GPS information.

5. The method of claim 1, further comprising:

(e) adjusting an actual path of the surveillance vehicle to approximate the first desired curvilinear path in accordance with the value of the at least one control variable.

6. The method of claim 1, further comprising:

(e) causing a change from the first desired curvilinear path to another desired curvilinear path.

7. The method of claim 1, wherein the first desired curvilinear path comprises an approximately circular path, and wherein the at least one path parameter comprises a desired radial range (P_d) from the convoy.

8. The method of claim 1, wherein the convoy comprises a control vehicle, and wherein the method further comprises:

(e) instructing the surveillance vehicle, by the control vehicle, to travel in the first desired curvilinear path.

9. The method of claim 8, wherein (e) comprises:

(i) sending a command to the surveillance vehicle, the command containing the value of the at least one control variable.

10. The method of claim 1, wherein the at least one control variable comprises a roll angle command.

11. A computer-readable medium having computer-executable instructions for performing the method as recited in claim 1.

15. The method of claim 11, wherein (d) comprises:

(ii) determining an altitude by;

A=∥

P_r∥

tan(Φ

⁻

+cam),

wherein cam corresponds to a mounting angle of a camera.

12. A method for a surveillance vehicle tracking a convoy, the convoy comprising at least one convoy vehicle, the method comprising:

(a) obtaining a first location and velocity information of the surveillance vehicle;

(b) obtaining a second location and velocity information of the convoy;

(c) determining at least one path parameter corresponding to a first desired curvilinear path of the surveillance vehicle; and

(d) determining a value of at least one control variable for the first desired curvilinear path, the at least one control variable including an altitude command and a roll angle command, further comprising;

(i) determining a roll angle by;

Φ

⁻

=a tan{V_a·

V_r/(g∥

P_r∥

)},

wherein V_a is an aircraft true velocity, V_r is a relative velocity, and P_r is a relative position.

13. The method of claim 12, wherein (d) further comprises:

(ii) determining the roll angle by;

Φ

⁻

*=Φ

⁻

+(π

/2−

a cos{V_a·

P_r/(∥

V_a∥

∥

P_r∥

)}).

14. The method of claim 13, wherein (d) further comprises:

(iii) determining the roll angle by;

Φ

⁻

**=Φ

⁻

*−

Ψ

,

wherein Ψ

is determined by;

(1) Ψ

=a sin{V<sub>rad—

err</sub>/∥

V_r∥

}, if |V<sub>rad—

err</sub>|<

∥

V_r∥

sin(max_angle); and

(2) Ψ

=a sin{V<sub>rad—

err</sub>/∥

V_r∥

}, otherwise.

16. An apparatus for controlling a satellite vehicle, comprising:

a communications interface that communicates with the satellite vehicle over a wireless communications channel;

a global positioning system (GPS) receiver for receiving GPS information; and

a processor that obtains a first position and first velocity information from the communications interface, wherein the first position and first velocity information are associated with the satellite vehicle, and that determines a second position and second velocity information from the GPS information, wherein the second position and second velocity information correspond to the apparatus, the processor configured to perform the steps of;

(a) receiving the first location and first velocity information of the satellite vehicle;

(b) obtaining the second location and second velocity information of the apparatus;

(c) determining at least one path parameter corresponding to a desired curvilinear path of the satellite vehicle; and

(d) determining a value of at least one control variable for the desired curvilinear path, the at least one control variable comprising an altitude command for dynamically controlling an altitude of the satellite vehicle; and

(e) sending the value of the at least one control variable for the desired curvilinear path to the satellite vehicle.

17. An apparatus for controlling a satellite vehicle, comprising:

a communications interface that communicates with the satellite vehicle over a wireless communications channel;

a global positioning system (GPS) receiver for receiving GPS information; and

a processor that obtains a first position and first velocity information from the communications interface, wherein the first position and first velocity information are associated with the satellite vehicle, and that determines a second position and second velocity information from the GPS information, wherein the second position and second velocity information correspond to the apparatus, the processor configured to perform the steps of;

(a) receiving the first location and first velocity information of the satellite vehicle;

(b) obtaining the second location and second velocity information of the apparatus;

(c) determining at least one path parameter corresponding to a desired curvilinear path of the satellite vehicle; and

(d) determining a value of at least one control variable for the desired curvilinear path, wherein the at least one control variable comprises a roll angle;

(e) sending the value of the at least one control variable for the desired curvilinear path to the satellite vehicle; and

(f) determining the roll angle by;

Φ

⁻

=a tan{V_a·

N_r/(g∥

P_r∥

)},

wherein V_a is an aircraft true velocity, V_r is a relative velocity, and P_r is a relative position.

18. The apparatus of claim 17, wherein the processor is further configured to perform:

(g) determining the roll angle by;

Φ

⁻

*=Φ

⁻

+(π

/2−

a cos{V_a·

P_r/(∥

V_a∥

P_r∥

)}).

19. The apparatus of claim 18, wherein the processor is further configured to perform:

(h) determining the roll angle by;

Φ

−

**=Φ

⁻

*−

Ψ

,

wherein Ψ

is determined by;

(1) Ψ

=asin{V<sub>rad—

err</sub>/∥

V_r∥

}, if |V<sub>rad—

err</sub>|<

∥

V_r∥

sin(max_angle); and

(2) Ψ

=asin{V<sub>rad—

err</sub>/∥

V_r∥

}, otherwise.

20. The apparatus of claim of 17, wherein the at least one control variable comprises an altitude and wherein the processor is further configured to perform:

(g) determining the altitude by;

A=∥

P_r∥

tan(Φ

⁻

+cam),

wherein cam corresponds to a mounting angle of a camera.

21. An apparatus for providing surveillance for a convoy vehicle, comprising:

a communications interface that communicates with the convoy vehicle over a wireless communications channel;

a propulsion system that propels the apparatus;

a guidance system that guides the propulsion system; and

a processor that obtains position and velocity information, that transmits the position and velocity information through the communications channel, that receives a value of at least one control variable from the communications interface, and that provides the value of the at least one control variable to the guidance system in order to maintain a desired curvilinear path of the apparatus, the at least one control variable comprising an altitude command for dynamically controlling an altitude of a surveillance vehicle.